• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.2
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• pp.108-115
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$3 to $\pm$0.1.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.82-87
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• 1997

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Applied Microscopy
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• v.28 no.3
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• pp.391-398
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• 1998

The morphological phenotype on ocellus of Drosophila rdgC mutant was observed with electron microscope. The result showed the particular phenotype that was not found in other retinal degenarative mutants. The most distinct difference was the orientation of photoreceptor cells. The photoreceptor cells did not attached to corneagenous cells but dropped under corneagenous cells and assembled around newly formed space. Enormous multivesicle bodies caused by the degeneration of photoreceptor cells were frequently found. Rhabdomeres were also severely degenerated in consequence of the mutant. Another degeneration was found in a part of photoreceptor cell, but the degeneration of subrhabdomeric cisternae (SRC) was not found. It was a ovious difference of rdgC comparing with other two retinal degenerative mutants, rdgA and rdgB. As a result, rdgC mutant was affected on the attachment between photoreceptor cells and corneageneous cells, and it suggested the defect of cell-cell attachment. In addition, rdgC mutant was accompanied by the defect not only in retina but nerve system. The results were agreed to the reference discussion that the rdgC molecule is exist in the nerve.

• Tribology and Lubricants
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• v.27 no.4
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• pp.204-208
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• 2011

Yaw brakes are used in wind turbines to control the orientation of blades to be perpendicular to the wind. These devices are very important machine elements because they are closely related to the overall efficiency of wind turbines. One unit of yaw brakes is composed of a friction pad and a caliper. In this study, a tangential force between the friction pad and the disk is calculated when the brake is acting in 750 kW wind turbine. Then, stress distribution and the deformation of the caliper are calculated using a finite element analysis. An experimental equipment is also developed to verify the exactness of calculated results. The analytical and experimental results are presented and discussed.

• KIEAE Journal
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• v.10 no.3
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• pp.17-26
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• 2010

This study aims at exploring the characteristics of the Usonian houses of Frank Lloyd Wright from an ecological viewpoint. After considering the definition and application of ecological architecture through literature review, 28 Usonian houses were selected and analyzed for the study. Also, nine Usonian houses, which clearly have ecological and historical importance, were visited and more thoroughly analyzed. The result shows that Usonian houses are ecological in terms of 1) the relationship among nature, landscape and house, 2) the orientation, natural light and natural ventilation, 3) the use of natural local materials including wood, stones and bricks, 4) the use of floor heating (the On-dol system inKorea), 5) the human scale, 6) the use of the board and batten unit (an early system of prefabrication), and 7) the openness and flexibility of floor plans.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1460-1463
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• 2005

In this paper, analysis of magnetic marker for autonomous vehicle guidance system using 3-axis magnetic sensor propose. Position sensing is an important an estimation system of vehicle position and orientation on magnetic lane, which is a parameter of the steering controller for automated lane following is described. To verify that the magnetic dipole model could be applied to a magnetic unit paved in roadway, the analysis of the data 3-axis magnetic field measured experimentally.

• Ocean Systems Engineering
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• v.1 no.3
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• pp.195-205
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• 2011

A method for calibrating a laser profiling system for seafloor micro-topography measurements is described. The system consists of a digital camera and an arrangement of six red lasers that are mounted as a unit on a remotely operated vehicle (ROV). The lasers project as parallel planes onto the seafloor, creating profiles of the local topography that are interpreted from the digital camera image. The goal of the calibration was to determine the plane equations for the six lasers relative to the camera. This was accomplished in two stages. First, distortions in the digital image were corrected using an interpolation method based on a virtual pinhole camera model. Then, the laser planes were determined according to their intersections with a calibration target. The position and orientation of the target were obtained by a registration process. The selection of the target shape and size was found to be critical to a successful calibration at sea, due to the limitations in the manoeuvrability of the ROV.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.131-136
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$2$^{\circ}$to $\pm$ 0.1$^{\circ}$.